Title :
Fuzzy internal models in vision systems modelling
Author :
Lefevre, P. ; De Neyer, M. ; Gorez, R. ; Barreto, J.
Author_Institution :
Lab. of Control Syst., Univ. Catholique de Louvian, Belgium
Abstract :
The authors study internal-model representations in the framework of control theory and of visual system modelling. It is shown that the control of rapid orienting movements of the visual axis in space (saccadic system) can be modelled as a control system based on internal models. Moreover, a fuzzy approach is found to be very well adapted for the modelling of some parts of the saccadic system (related to highly nonlinear sensors and/or internal representations). Classical properties of this control structure such as robustness and disturbance rejection are met
Keywords :
biocontrol; computer vision; fuzzy logic; model reference adaptive control systems; physiological models; position control; vision; MRAC; control theory; disturbance rejection; fuzzy internal models; nonlinear sensors; rapid orienting movements; robustness; saccadic system; vision systems modelling; visual axis; Control system synthesis; Control systems; Fuzzy control; Fuzzy systems; Machine vision; Position control; Process control; Robot kinematics; Robot sensing systems; Robust control;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174434
